cmake_minimum_required(VERSION 3.10)
project(planning_algorithms)

set(ASTAR
    Search_based/Astar/main.cpp
    Search_based/Astar/Astar_searcher.cpp
)

add_executable(a_star ${ASTAR})

find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})
target_link_libraries(a_star ${OpenCV_LIBS})

target_include_directories(a_star
    PRIVATE 
        ${PROJECT_SOURCE_DIR}/Search_based/Astar
)



add_executable(rrt Sample_based/RRT/main.cpp Sample_based/RRT/RRT_searcher.cpp)
target_link_libraries(rrt ${OpenCV_LIBS})

target_include_directories(rrt
    PRIVATE 
        ${PROJECT_SOURCE_DIR}/Sample_based/RRT
)



add_executable(rrt_connect Sample_based/RRT_connect/main.cpp Sample_based/RRT_connect/RRT_searcher.cpp)
target_link_libraries(rrt_connect ${OpenCV_LIBS})

target_include_directories(rrt_connect
    PRIVATE 
        ${PROJECT_SOURCE_DIR}/Sample_based/RRT_connect
)